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<p><code>#include &lt;<a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>&gt;</code></p>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a3ea9a3f81723a56696bdaa4e88f425c8"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a3ea9a3f81723a56696bdaa4e88f425c8">DesiredStateCommand</a> (<a class="el" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a> *command, <a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt; *sEstimate)</td></tr>
<tr class="separator:a3ea9a3f81723a56696bdaa4e88f425c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21143e9f676a1558f8ba3f742750b98b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a21143e9f676a1558f8ba3f742750b98b">convertToStateCommands</a> ()</td></tr>
<tr class="separator:a21143e9f676a1558f8ba3f742750b98b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa00bae32ea935264a5785dc0db4ee992"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#aa00bae32ea935264a5785dc0db4ee992">desiredStateTrajectory</a> (int N, <a class="el" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a>&lt; T &gt; dtVec)</td></tr>
<tr class="separator:aa00bae32ea935264a5785dc0db4ee992"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12bdcb978e523b2097f2f44bc7edb1ab"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a12bdcb978e523b2097f2f44bc7edb1ab">printRawInfo</a> ()</td></tr>
<tr class="separator:a12bdcb978e523b2097f2f44bc7edb1ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aefa1ecadb7b80a2e48ee9fe25123745e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#aefa1ecadb7b80a2e48ee9fe25123745e">printStateCommandInfo</a> ()</td></tr>
<tr class="separator:aefa1ecadb7b80a2e48ee9fe25123745e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac0c4857456d08b28eb6cb954d35e80b8"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">deadband</a> (float command, T minVal, T maxVal)</td></tr>
<tr class="separator:ac0c4857456d08b28eb6cb954d35e80b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a58d51f22a49d07f5d38380616cd14ca5"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a58d51f22a49d07f5d38380616cd14ca5">maxRoll</a> = 0.4</td></tr>
<tr class="separator:a58d51f22a49d07f5d38380616cd14ca5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5c4f4e1513e251e0f7bc967414e0f95"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ad5c4f4e1513e251e0f7bc967414e0f95">minRoll</a> = -0.4</td></tr>
<tr class="separator:ad5c4f4e1513e251e0f7bc967414e0f95"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc7fc5af6086faf943814811f79952b6"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#abc7fc5af6086faf943814811f79952b6">maxPitch</a> = 0.4</td></tr>
<tr class="separator:abc7fc5af6086faf943814811f79952b6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad6baddbaa6e215aaf0fdd140a93888a4"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ad6baddbaa6e215aaf0fdd140a93888a4">minPitch</a> = -0.4</td></tr>
<tr class="separator:ad6baddbaa6e215aaf0fdd140a93888a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7f01b642104cc17b867ce5ce32d68f1"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ae7f01b642104cc17b867ce5ce32d68f1">maxVelX</a> = 1.0</td></tr>
<tr class="separator:ae7f01b642104cc17b867ce5ce32d68f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc3d620efe84bdb89718c473900ad78f"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#acc3d620efe84bdb89718c473900ad78f">minVelX</a> = -1.0</td></tr>
<tr class="separator:acc3d620efe84bdb89718c473900ad78f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfb288ee51b6a22407bd7412eef62c4e"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#adfb288ee51b6a22407bd7412eef62c4e">maxVelY</a> = 0.5</td></tr>
<tr class="separator:adfb288ee51b6a22407bd7412eef62c4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4176c19231d9340a7daaae24e9ba8576"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a4176c19231d9340a7daaae24e9ba8576">minVelY</a> = -0.5</td></tr>
<tr class="separator:a4176c19231d9340a7daaae24e9ba8576"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a66580586a0ed2e479b81567b6668f9ae"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a66580586a0ed2e479b81567b6668f9ae">maxTurnRate</a> = 2.0</td></tr>
<tr class="separator:a66580586a0ed2e479b81567b6668f9ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf76f4e0e5c67a57e0fdc57ddd4b2c7a"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#acf76f4e0e5c67a57e0fdc57ddd4b2c7a">minTurnRate</a> = -2.0</td></tr>
<tr class="separator:acf76f4e0e5c67a57e0fdc57ddd4b2c7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab84f76cee9c1be472e8636e6ab6dd641"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a></td></tr>
<tr class="separator:ab84f76cee9c1be472e8636e6ab6dd641"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a383e229df8f997fadf2926d0b4c82c2d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a></td></tr>
<tr class="separator:a383e229df8f997fadf2926d0b4c82c2d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a686222aa0264a52767f5f0573a8ca6c4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt; *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">stateEstimate</a></td></tr>
<tr class="separator:a686222aa0264a52767f5f0573a8ca6c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac71570711c6f38bb2a9ca3632ad3b7d9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a></td></tr>
<tr class="separator:ac71570711c6f38bb2a9ca3632ad3b7d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7668e65c5bfee9cc46f54df0e69fb796"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a7668e65c5bfee9cc46f54df0e69fb796">dt</a> = 0.001</td></tr>
<tr class="separator:a7668e65c5bfee9cc46f54df0e69fb796"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97406250b1bbfccafa92f4ed4324b0b0"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#a97406250b1bbfccafa92f4ed4324b0b0">deadbandRegion</a> = 0.075</td></tr>
<tr class="separator:a97406250b1bbfccafa92f4ed4324b0b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1689cf7de804f97e08e432a48a3ddb3"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ac1689cf7de804f97e08e432a48a3ddb3">printNum</a> = 5</td></tr>
<tr class="separator:ac1689cf7de804f97e08e432a48a3ddb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad31167847630c534b780e1f426c10bc0"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a> = 0</td></tr>
<tr class="separator:ad31167847630c534b780e1f426c10bc0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class DesiredStateCommand&lt; T &gt;</h3>


<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00035">35</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a3ea9a3f81723a56696bdaa4e88f425c8"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::<a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a> </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="../../d4/d51/struct_gamepad_command.html">GamepadCommand</a> *&#160;</td>
          <td class="paramname"><em>command</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt; T &gt; *&#160;</td>
          <td class="paramname"><em>sEstimate</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
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  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00039">39</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                                                                            {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a> = command;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">stateEstimate</a> = sEstimate;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  }</div><div class="ttc" id="class_desired_state_command_html_a383e229df8f997fadf2926d0b4c82c2d"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">DesiredStateCommand::gamepadCommand</a></div><div class="ttdeci">GamepadCommand * gamepadCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00066">DesiredStateCommand.h:66</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a686222aa0264a52767f5f0573a8ca6c4"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">DesiredStateCommand::stateEstimate</a></div><div class="ttdeci">StateEstimate&lt; T &gt; * stateEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00067">DesiredStateCommand.h:67</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::convertToStateCommands </td>
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<p>Definition at line <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00026">26</a> of file <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html">DesiredStateCommand.cpp</a>.</p>

<p>References <a class="el" href="../../de/df0/utilities_8h_source.html#l00046">deadband()</a>.</p>
<div class="fragment"><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                                                    {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.zero();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">// Forward linear velocity</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(6) =</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <a class="code" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">deadband</a>(<a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a8762e159c5f3af311e20e83c7d1de6b9">leftStickAnalog</a>[1], <a class="code" href="../../d0/d27/class_desired_state_command.html#acc3d620efe84bdb89718c473900ad78f">minVelX</a>, <a class="code" href="../../d0/d27/class_desired_state_command.html#ae7f01b642104cc17b867ce5ce32d68f1">maxVelX</a>);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">// Lateral linear velocity</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(7) =</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <a class="code" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">deadband</a>(<a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a8762e159c5f3af311e20e83c7d1de6b9">leftStickAnalog</a>[0], <a class="code" href="../../d0/d27/class_desired_state_command.html#a4176c19231d9340a7daaae24e9ba8576">minVelY</a>, <a class="code" href="../../d0/d27/class_desired_state_command.html#adfb288ee51b6a22407bd7412eef62c4e">maxVelY</a>);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// VErtical linear velocity</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(8) = 0.0;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// X position</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(0) = <a class="code" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">stateEstimate</a>-&gt;position(0) + <a class="code" href="../../d0/d27/class_desired_state_command.html#a7668e65c5bfee9cc46f54df0e69fb796">dt</a> * <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(6);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">// Y position</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(1) = <a class="code" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">stateEstimate</a>-&gt;position(1) + <a class="code" href="../../d0/d27/class_desired_state_command.html#a7668e65c5bfee9cc46f54df0e69fb796">dt</a> * <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(7);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// Z position height</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(2) = 0.45;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// Roll rate</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(9) = 0.0;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// Pitch rate</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(10) = 0.0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// Yaw turn rate</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(11) =</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <a class="code" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">deadband</a>(<a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#afcb9eba787086c7ba49d02941ac596ea">rightStickAnalog</a>[0], <a class="code" href="../../d0/d27/class_desired_state_command.html#acf76f4e0e5c67a57e0fdc57ddd4b2c7a">minTurnRate</a>, <a class="code" href="../../d0/d27/class_desired_state_command.html#a66580586a0ed2e479b81567b6668f9ae">maxTurnRate</a>);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// Roll</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(3) = 0.0;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// Pitch</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(4) =</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <a class="code" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">deadband</a>(<a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#afcb9eba787086c7ba49d02941ac596ea">rightStickAnalog</a>[1], <a class="code" href="../../d0/d27/class_desired_state_command.html#ad6baddbaa6e215aaf0fdd140a93888a4">minPitch</a>, <a class="code" href="../../d0/d27/class_desired_state_command.html#abc7fc5af6086faf943814811f79952b6">maxPitch</a>);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Yaw</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(5) = <a class="code" href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">stateEstimate</a>-&gt;rpy(2) + <a class="code" href="../../d0/d27/class_desired_state_command.html#a7668e65c5bfee9cc46f54df0e69fb796">dt</a> * <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(11);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div><div class="ttc" id="class_desired_state_command_html_adfb288ee51b6a22407bd7412eef62c4e"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#adfb288ee51b6a22407bd7412eef62c4e">DesiredStateCommand::maxVelY</a></div><div class="ttdeci">T maxVelY</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00057">DesiredStateCommand.h:57</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_afcb9eba787086c7ba49d02941ac596ea"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#afcb9eba787086c7ba49d02941ac596ea">GamepadCommand::rightStickAnalog</a></div><div class="ttdeci">Vec2&lt; float &gt; rightStickAnalog</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00018">GamepadCommand.h:18</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a4176c19231d9340a7daaae24e9ba8576"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a4176c19231d9340a7daaae24e9ba8576">DesiredStateCommand::minVelY</a></div><div class="ttdeci">T minVelY</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00058">DesiredStateCommand.h:58</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ae7f01b642104cc17b867ce5ce32d68f1"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ae7f01b642104cc17b867ce5ce32d68f1">DesiredStateCommand::maxVelX</a></div><div class="ttdeci">T maxVelX</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00055">DesiredStateCommand.h:55</a></div></div>
<div class="ttc" id="class_desired_state_command_html_acf76f4e0e5c67a57e0fdc57ddd4b2c7a"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#acf76f4e0e5c67a57e0fdc57ddd4b2c7a">DesiredStateCommand::minTurnRate</a></div><div class="ttdeci">T minTurnRate</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00060">DesiredStateCommand.h:60</a></div></div>
<div class="ttc" id="class_desired_state_command_html_abc7fc5af6086faf943814811f79952b6"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#abc7fc5af6086faf943814811f79952b6">DesiredStateCommand::maxPitch</a></div><div class="ttdeci">T maxPitch</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00053">DesiredStateCommand.h:53</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_a8762e159c5f3af311e20e83c7d1de6b9"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a8762e159c5f3af311e20e83c7d1de6b9">GamepadCommand::leftStickAnalog</a></div><div class="ttdeci">Vec2&lt; float &gt; leftStickAnalog</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00018">GamepadCommand.h:18</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a383e229df8f997fadf2926d0b4c82c2d"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">DesiredStateCommand::gamepadCommand</a></div><div class="ttdeci">GamepadCommand * gamepadCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00066">DesiredStateCommand.h:66</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a7668e65c5bfee9cc46f54df0e69fb796"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a7668e65c5bfee9cc46f54df0e69fb796">DesiredStateCommand::dt</a></div><div class="ttdeci">T dt</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00073">DesiredStateCommand.h:73</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a66580586a0ed2e479b81567b6668f9ae"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a66580586a0ed2e479b81567b6668f9ae">DesiredStateCommand::maxTurnRate</a></div><div class="ttdeci">T maxTurnRate</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00059">DesiredStateCommand.h:59</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ad6baddbaa6e215aaf0fdd140a93888a4"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ad6baddbaa6e215aaf0fdd140a93888a4">DesiredStateCommand::minPitch</a></div><div class="ttdeci">T minPitch</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00054">DesiredStateCommand.h:54</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a686222aa0264a52767f5f0573a8ca6c4"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a686222aa0264a52767f5f0573a8ca6c4">DesiredStateCommand::stateEstimate</a></div><div class="ttdeci">StateEstimate&lt; T &gt; * stateEstimate</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00067">DesiredStateCommand.h:67</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ac0c4857456d08b28eb6cb954d35e80b8"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">DesiredStateCommand::deadband</a></div><div class="ttdeci">float deadband(float command, T minVal, T maxVal)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00110">DesiredStateCommand.cpp:110</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ab84f76cee9c1be472e8636e6ab6dd641"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">DesiredStateCommand::data</a></div><div class="ttdeci">DesiredStateData&lt; T &gt; data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00063">DesiredStateCommand.h:63</a></div></div>
<div class="ttc" id="class_desired_state_command_html_acc3d620efe84bdb89718c473900ad78f"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#acc3d620efe84bdb89718c473900ad78f">DesiredStateCommand::minVelX</a></div><div class="ttdeci">T minVelX</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00056">DesiredStateCommand.h:56</a></div></div>
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template&lt;typename T&gt; </div>
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          <td class="memname">float <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::deadband </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>command</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>minVal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>maxVal</em>&#160;</td>
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          <td>)</td>
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<p>Definition at line <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00110">110</a> of file <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html">DesiredStateCommand.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                                                                        {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (command &lt; deadbandRegion &amp;&amp; command &gt; -<a class="code" href="../../d0/d27/class_desired_state_command.html#a97406250b1bbfccafa92f4ed4324b0b0">deadbandRegion</a>) {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">return</span> 0.0;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">return</span> (command / (2)) * (maxVal - minVal);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div><div class="ttc" id="class_desired_state_command_html_a97406250b1bbfccafa92f4ed4324b0b0"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a97406250b1bbfccafa92f4ed4324b0b0">DesiredStateCommand::deadbandRegion</a></div><div class="ttdeci">T deadbandRegion</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00076">DesiredStateCommand.h:76</a></div></div>
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template&lt;typename T&gt; </div>
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          <td class="memname">void <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::desiredStateTrajectory </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>N</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a>&lt; T &gt;&#160;</td>
          <td class="paramname"><em>dtVec</em>&#160;</td>
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<p>Definition at line <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00074">74</a> of file <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html">DesiredStateCommand.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                                                                         {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(0, 0) = 1;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(1, 1) = 1;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(2, 2) = 1;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(3, 3) = 1;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(4, 4) = 1;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(5, 5) = 1;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(6, 6) = 1;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(7, 7) = 1;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(8, 8) = 1;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(9, 9) = 1;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(10, 10) = 1;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(11, 11) = 1;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateTrajDes.col(0) = <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k &lt; N; k++) {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(0, 6) = dtVec(k - 1);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(1, 7) = dtVec(k - 1);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(2, 8) = dtVec(k - 1);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(3, 9) = dtVec(k - 1);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(4, 10) = dtVec(k - 1);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a>(5, 11) = dtVec(k - 1);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateTrajDes.col(k) = <a class="code" href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">A</a> * <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateTrajDes.col(k - 1);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 12; i++) {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// std::cout &lt;&lt; data.stateTrajDes(i, k) &lt;&lt; &quot; &quot;;</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">// std::cout &lt;&lt; std::endl;</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// std::cout &lt;&lt; std::endl;</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div><div class="ttc" id="cpp_types_8h_html_ada3d7962220cc81b232609a200370584"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 12, 12 &gt; Mat12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00074">cppTypes.h:74</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ab84f76cee9c1be472e8636e6ab6dd641"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">DesiredStateCommand::data</a></div><div class="ttdeci">DesiredStateData&lt; T &gt; data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00063">DesiredStateCommand.h:63</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ac71570711c6f38bb2a9ca3632ad3b7d9"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ac71570711c6f38bb2a9ca3632ad3b7d9">DesiredStateCommand::A</a></div><div class="ttdeci">Mat12&lt; T &gt; A</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00070">DesiredStateCommand.h:70</a></div></div>
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          <td class="memname">void <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::printRawInfo </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Definition at line <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00122">122</a> of file <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html">DesiredStateCommand.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                                          {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// Increment printing iteration</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a>++;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">// Print at requested frequency</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a> == <a class="code" href="../../d0/d27/class_desired_state_command.html#ac1689cf7de804f97e08e432a48a3ddb3">printNum</a>) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[DESIRED STATE COMMAND] Printing Raw Gamepad Info...\n&quot;</span>;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Button Start: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a0c8ad5d51992b4afa016b1ed77840ea2">start</a></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Back: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a03927ecf4899e98b6a4607931fcf36ee">back</a> &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Button A: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a5859a041512bdd154ad53f73c1703d6e">a</a></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | B: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a3c5d0f21f83bd700972506c7d5081413">b</a> &lt;&lt; <span class="stringliteral">&quot; | X: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a7e678392496e81b0dde7debd7b2ad4eb">x</a></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#acb24ec8d228d6b98ae6dca355e19166f">y</a> &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Left Stick Button: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a02f98050f070aa19d4e7b74c179f2540">leftStickButton</a></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | X: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a8762e159c5f3af311e20e83c7d1de6b9">leftStickAnalog</a>[0]</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a8762e159c5f3af311e20e83c7d1de6b9">leftStickAnalog</a>[1] &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Right Analog Button: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a9fc3ab7cb7d1e3e338e1218c40df1844">rightStickButton</a></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | X: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#afcb9eba787086c7ba49d02941ac596ea">rightStickAnalog</a>[0]</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#afcb9eba787086c7ba49d02941ac596ea">rightStickAnalog</a>[1] &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Left Bumper: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#ad096e69edef4494a94aa31d94002c057">leftBumper</a></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Switch: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#ae8cb04ddf2ad899f8f34c117f316d184">leftTriggerButton</a></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Value: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a1c9d543f32b4a12c134ab6c7b33b7fc2">leftTriggerAnalog</a></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Right Bumper: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a04dbfada43182202c908b530435503ec">rightBumper</a></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Switch: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a3190d9beef19d670a4e98098b9d4deae">rightTriggerButton</a></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Value: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">gamepadCommand</a>-&gt;<a class="code" href="../../d4/d51/struct_gamepad_command.html#a05854ee39478c3d490bd876522630360">rightTriggerAnalog</a></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n\n&quot;</span>;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// Reset iteration counter</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a> = 0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div><div class="ttc" id="struct_gamepad_command_html_afcb9eba787086c7ba49d02941ac596ea"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#afcb9eba787086c7ba49d02941ac596ea">GamepadCommand::rightStickAnalog</a></div><div class="ttdeci">Vec2&lt; float &gt; rightStickAnalog</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00018">GamepadCommand.h:18</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_a3190d9beef19d670a4e98098b9d4deae"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a3190d9beef19d670a4e98098b9d4deae">GamepadCommand::rightTriggerButton</a></div><div class="ttdeci">bool rightTriggerButton</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
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<div class="ttc" id="struct_gamepad_command_html_ad096e69edef4494a94aa31d94002c057"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#ad096e69edef4494a94aa31d94002c057">GamepadCommand::leftBumper</a></div><div class="ttdeci">bool leftBumper</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
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<div class="ttc" id="struct_gamepad_command_html_a8762e159c5f3af311e20e83c7d1de6b9"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a8762e159c5f3af311e20e83c7d1de6b9">GamepadCommand::leftStickAnalog</a></div><div class="ttdeci">Vec2&lt; float &gt; leftStickAnalog</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00018">GamepadCommand.h:18</a></div></div>
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<div class="ttc" id="class_desired_state_command_html_a383e229df8f997fadf2926d0b4c82c2d"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a383e229df8f997fadf2926d0b4c82c2d">DesiredStateCommand::gamepadCommand</a></div><div class="ttdeci">GamepadCommand * gamepadCommand</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00066">DesiredStateCommand.h:66</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_a04dbfada43182202c908b530435503ec"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a04dbfada43182202c908b530435503ec">GamepadCommand::rightBumper</a></div><div class="ttdeci">bool rightBumper</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
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<div class="ttc" id="struct_gamepad_command_html_ae8cb04ddf2ad899f8f34c117f316d184"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#ae8cb04ddf2ad899f8f34c117f316d184">GamepadCommand::leftTriggerButton</a></div><div class="ttdeci">bool leftTriggerButton</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
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<div class="ttc" id="struct_gamepad_command_html_a3c5d0f21f83bd700972506c7d5081413"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a3c5d0f21f83bd700972506c7d5081413">GamepadCommand::b</a></div><div class="ttdeci">bool b</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_a02f98050f070aa19d4e7b74c179f2540"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a02f98050f070aa19d4e7b74c179f2540">GamepadCommand::leftStickButton</a></div><div class="ttdeci">bool leftStickButton</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ac1689cf7de804f97e08e432a48a3ddb3"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ac1689cf7de804f97e08e432a48a3ddb3">DesiredStateCommand::printNum</a></div><div class="ttdeci">int printNum</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00079">DesiredStateCommand.h:79</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_a1c9d543f32b4a12c134ab6c7b33b7fc2"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a1c9d543f32b4a12c134ab6c7b33b7fc2">GamepadCommand::leftTriggerAnalog</a></div><div class="ttdeci">float leftTriggerAnalog</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00019">GamepadCommand.h:19</a></div></div>
<div class="ttc" id="struct_gamepad_command_html_a03927ecf4899e98b6a4607931fcf36ee"><div class="ttname"><a href="../../d4/d51/struct_gamepad_command.html#a03927ecf4899e98b6a4607931fcf36ee">GamepadCommand::back</a></div><div class="ttdeci">bool back</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d24/_gamepad_command_8h_source.html#l00015">GamepadCommand.h:15</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ad31167847630c534b780e1f426c10bc0"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">DesiredStateCommand::printIter</a></div><div class="ttdeci">int printIter</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00082">DesiredStateCommand.h:82</a></div></div>
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<p>Definition at line <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00160">160</a> of file <a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html">DesiredStateCommand.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                                                   {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// Increment printing iteration</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <a class="code" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a>++;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// Print at requested frequency</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a> == <a class="code" href="../../d0/d27/class_desired_state_command.html#ac1689cf7de804f97e08e432a48a3ddb3">printNum</a>) {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[DESIRED STATE COMMAND] Printing State Command Info...\n&quot;</span>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Position X: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(0)</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(1) &lt;&lt; <span class="stringliteral">&quot; | Z: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(2)</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Orientation Roll: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(3)</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Pitch: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(4)</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Yaw: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(5) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Velocity X: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(6)</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(7) &lt;&lt; <span class="stringliteral">&quot; | Z: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(8)</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Angular Velocity X: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(9)</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(10) &lt;&lt; <span class="stringliteral">&quot; | Z: &quot;</span> &lt;&lt; <a class="code" href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">data</a>.stateDes(11)</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// Reset iteration counter</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <a class="code" href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">printIter</a> = 0;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div><div class="ttc" id="class_desired_state_command_html_ab84f76cee9c1be472e8636e6ab6dd641"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ab84f76cee9c1be472e8636e6ab6dd641">DesiredStateCommand::data</a></div><div class="ttdeci">DesiredStateData&lt; T &gt; data</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00063">DesiredStateCommand.h:63</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ac1689cf7de804f97e08e432a48a3ddb3"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ac1689cf7de804f97e08e432a48a3ddb3">DesiredStateCommand::printNum</a></div><div class="ttdeci">int printNum</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00079">DesiredStateCommand.h:79</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ad31167847630c534b780e1f426c10bc0"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ad31167847630c534b780e1f426c10bc0">DesiredStateCommand::printIter</a></div><div class="ttdeci">int printIter</div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00082">DesiredStateCommand.h:82</a></div></div>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00063">63</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00066">66</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="abc7fc5af6086faf943814811f79952b6"></a>
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template&lt;typename T&gt; </div>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::maxPitch = 0.4</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00053">53</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::maxRoll = 0.4</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00051">51</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="a66580586a0ed2e479b81567b6668f9ae"></a>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::maxTurnRate = 2.0</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00059">59</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="ae7f01b642104cc17b867ce5ce32d68f1"></a>
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template&lt;typename T&gt; </div>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::maxVelX = 1.0</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00055">55</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="adfb288ee51b6a22407bd7412eef62c4e"></a>
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<div class="memtemplate">
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::maxVelY = 0.5</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00057">57</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::minPitch = -0.4</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00054">54</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="ad5c4f4e1513e251e0f7bc967414e0f95"></a>
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<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::minRoll = -0.4</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00052">52</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="acf76f4e0e5c67a57e0fdc57ddd4b2c7a"></a>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::minTurnRate = -2.0</td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00060">60</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="acc3d620efe84bdb89718c473900ad78f"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::minVelX = -1.0</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00056">56</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="a4176c19231d9340a7daaae24e9ba8576"></a>
<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename T&gt; </div>
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          <td class="memname">T <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::minVelY = -0.5</td>
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</div><div class="memdoc">

<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00058">58</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="ad31167847630c534b780e1f426c10bc0"></a>
<div class="memitem">
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template&lt;typename T&gt; </div>
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          <td class="memname">int <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::printIter = 0</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00082">82</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="ac1689cf7de804f97e08e432a48a3ddb3"></a>
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          <td class="memname">int <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::printNum = 5</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00079">79</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

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<a class="anchor" id="a686222aa0264a52767f5f0573a8ca6c4"></a>
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<div class="memproto">
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template&lt;typename T&gt; </div>
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          <td class="memname"><a class="el" href="../../dd/df3/struct_state_estimate.html">StateEstimate</a>&lt;T&gt;* <a class="el" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a>&lt; T &gt;::stateEstimate</td>
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<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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<p>Definition at line <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html#l00067">67</a> of file <a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a>.</p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="../../d8/dfc/_desired_state_command_8h_source.html">DesiredStateCommand.h</a></li>
<li><a class="el" href="../../d3/d4e/_desired_state_command_8cpp_source.html">DesiredStateCommand.cpp</a></li>
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